The real-time timer is a high resolution, high priority timer which is used for controlling the rate at which the stepper motors are stepped. More...

#include <stdint.h>

Data Structures
struct	realtime_task_t
	Structure for tasks that can be scheduled with the real-time timer. More...
Defines
#define	RTTIMER_TICKS_PER_MIN (F_CPU/8L*60L)
	The number of ticks the real-time timer takes in one minute.
#define	RTTIMER_SUCCESS 0
	'Success' return value.
#define	RTTIMER_BUSY -1
	'Busy' return value.
#define	RTTIMER_NOT_RUNNING -2
	'Not running' return value.
Functions
void	rttimer_init (void)
	Initializes the real-time timer component.
int	rttimer_schedule_ticks (realtime_task_t *t, uint16_t ticks)
	Schedules a task to be executed after a specified number of ticks.
int	rttimer_cancel (void)
	Cancels the currently scheduled task.

Detailed Description

The real-time timer is a high resolution, high priority timer which is used for controlling the rate at which the stepper motors are stepped.

Definition in file realtime_timer.h.

Function Documentation

int rttimer_cancel ( void )

Cancels the currently scheduled task.

Returns:: RTTIMER_SUCCESS on success or RTTIMER_NOT_RUNNING if the timer does not currently have any task scheduled.

Definition at line 153 of file realtime_timer.c.

void rttimer_init ( void )

Initializes the real-time timer component.

This should only be called once on boot.

Definition at line 121 of file realtime_timer.c.

Schedules a task to be executed after a specified number of ticks.

Parameters:

t	pointer to the task to be executed
ticks	the number of ticks to wait before executing the task

Returns:: RTTIMER_SUCCESS on success or RTTIMER_BUSY if the timer already has a scheduled task to be executed.

Definition at line 138 of file realtime_timer.c.